CN101551641B - Speed synchronous control system of wire-processing transmission wire - Google Patents
Speed synchronous control system of wire-processing transmission wire Download PDFInfo
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- CN101551641B CN101551641B CN2008100432086A CN200810043208A CN101551641B CN 101551641 B CN101551641 B CN 101551641B CN 2008100432086 A CN2008100432086 A CN 2008100432086A CN 200810043208 A CN200810043208 A CN 200810043208A CN 101551641 B CN101551641 B CN 101551641B
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Abstract
The invention discloses a speed synchronous control system of a wire-processing transmission wire, which comprises a speed synchronous control start-stop signal generator, a speed checker I, a speed checker II and a PID regulator, wherein the speed checker I checks the output speed of a front-stage driving device, the speed checker II checks the output speed of an oil motor of a back-stage drivingdevice, the PID regulator carries out proportional integral regulation according to the deviation degree of the output speeds of the front-stage driving device and the back-stage driving device outpu tted by the checker I and the checker II and outputs a speed control signal of the back-stage driving device to change the speed of back-stage driving, and the speed checker II checks the output speedof the back-stage driving device again and feeds the information to the set speed of the PID regulator to enable the speeds of the front-stage driving and the back-stage driving to be consistent. The system can realize the output speed of driving devices of the no-mechanical connection of the front section and the back section of the wire-processing transmission wire.
Description
Technical field
The present invention relates to the Automatic Detection and Control technology, be particularly related to a kind of speed synchronous control system of wire-processing transmission wire, before and after being specifically related on the wire-processing transmission wire two-stage do not have the drive unit that machinery connects output speed synchronously, wherein level drive unit in back is an oil motor, in this oil motor oil supply loop a proportioning valve is arranged.
Background technology
In industrial device control field, in order to improve the precision of device control, to enhance productivity, the speed of motor often will require synchronously, and there is different controlling schemes different application scenarios.Basic scheme all is that the speed with the speed of a motor or relevant device is benchmark, and the control terminal speed and the benchmark of other motors are synchronous.Because respective motors device driven different with the speed transmitting device between motor (conventional as belt, gear set etc.), the control difficulty of speed synchronization is also bigger.
For example, on the transmission line of the processing of wire rod, transmission line divides two sections or multistage, in one section, there is one group of drive unit to drive, and need next group drive unit to drive in next section, but in the switching phase wire rod is in two sections drive unit driving scopes, and wire rod treating apparatus (as reconditioning, spraying, peeling etc.) also needs in operate as normal, just need the terminal output speed of hypomere driving group synchronous this moment with leading portion driving group terminal output speed, guarantees carrying out smoothly of production.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of speed synchronous control system of wire-processing transmission wire, before and after realizing on the wire-processing transmission wire two-stage do not have the drive unit that machinery connects output speed synchronously, control is convenient.
For solving the problems of the technologies described above, speed synchronous control system of wire-processing transmission wire of the present invention, be used to realize the wire-processing transmission wire front and back stages do not have the drive unit that machinery connects output speed synchronously, wherein level drive unit in back is an oil motor, in this oil motor oil supply loop a proportioning valve is arranged, it is characterized in that speed synchronous control system of wire-processing transmission wire comprises speed synchronization control start-stop signal generating means, speed detector one, speed detector two, PID regulator, analog quantity input/output module; Speed detector one detects prime drive unit output speed, speed detector two detects back level drive unit output speed, when speed synchronization control start-stop signal generating means provides enabling signal, the PID regulator according to two outputs of speed detector one and speed detector before, the deviation size of back level drive unit output speed is done proportional integral and is regulated, calculate controlled quentity controlled variable, output back level drive unit speed control signal, the back level drive unit speed control signal of PID regulator output is controlled the output of the proportioning valve in this oil motor oil supply loop through this analog quantity input/output module, the output of passing ratio valve changes and changes back level drive unit output speed, speed detector two detects back level drive unit output speed once more, feed back to the velocity setting of PID regulator, draw once more next scan period before, the velocity deviation of back level drive unit output speed, this close-loop feedback process circulation is carried out, thus the speed unanimity that level drives before and after making; When speed synchronization control start-stop signal generating means provides stop signal, stop synchro control to back level drive unit output speed.
Can be wire rod that speed synchronization control start-stop signal generating means transmits on detecting wire-processing transmission wire when appearing at position between forward and backward level drive unit, provide the synchro control enabling signal; After detecting wire rod and shifting out prime drive unit scope, provide the synchro control stop signal.
Speed synchronous control system of wire-processing transmission wire of the present invention forms the output speed of closed feedback loop control back level drive unit oil motor by speed detector, PID regulator, proportioning valve etc., two-stage does not have the synchronous of the mechanical drive unit output speed that connects before and after can realizing on the wire-processing transmission wire substantially, and can require to increase the necessary control content according to reality, extendability is stronger, and control is convenient.
Description of drawings
Fig. 1 is the basic closed loop adjustment synoptic diagram of speed synchronous control system of wire-processing transmission wire one embodiment of the present invention.
Embodiment
Below in conjunction with the drawings and the specific embodiments the present invention is described in further detail.
Speed synchronous control system of wire-processing transmission wire one embodiment of the present invention as shown in Figure 1, be used to realize the wire-processing transmission wire front and back stages do not have the drive unit that machinery connects output speed synchronously, back level drive unit is an oil motor, be provided with the output of a proportioning valve in the oil motor oil supply loop, the output of passing ratio valve changes the output speed that can change oil motor.Comprise speed synchronization control start-stop signal generating means, speed detector one, speed detector two, PID regulator, analog quantity input/output module; Speed detector one detects prime drive unit output speed, speed detector two detects back level drive unit output speed, when speed synchronization control start-stop signal generating means provides enabling signal, the PID regulator according to two outputs of speed detector one and speed detector before, the deviation size of back level drive unit output speed is done proportional integral and is regulated, calculate controlled quentity controlled variable, output back level drive unit speed control signal, the back level drive unit speed control signal of PID regulator output is arranged in the output of the proportioning valve of oil motor oil supply loop through analog quantity input/output module control, the output of passing ratio valve changes and changes back level drive unit output speed, speed detector two detects back level drive unit output speed once more, feed back to the velocity setting of PID regulator, draw once more next scan period before, the velocity deviation of back level drive unit output speed.This close-loop feedback process circulation is carried out, thus the speed unanimity that level drives before and after making.When speed synchronization control start-stop signal generating means provides stop signal, stop synchro control to back level drive unit output speed.
When the wire rod that speed synchronization control start-stop signal generating means transmits appears at position between the front and rear sections drive unit, provide the synchro control enabling signal on detecting wire-processing transmission wire; After detecting wire rod and shifting out prime drive unit scope, provide the synchro control stop signal.
One preferred embodiment is as follows,
On a strip-line production line, the prime drive unit is a direct current variable frequency motor, and motor shaft drives mechanical hook-up by belt connection gear group wire rod is sent forward, and clamp device clamps wire rod simultaneously; Back level drive unit is the oil motor that is provided with proportioning valve in the oil supply loop, catch the wire rod that the leading portion drive unit is sent by the chain drive dolly, require speed synchronization this moment, after wire rod disposes, clamp device loosens wire rod, and oil motor is by its fixedly setting speed output.Because the output speed of direct current variable frequency motor is inequality with the fixedly setting output speed of oil motor, so need adjust output speed unanimity to the output speed of oil motor with direct current variable frequency motor, so that when wire rod is in the two-stage drive device and drives switching phase in the scope, guarantee that wire rod treating apparatus (as reconditioning, spraying, peeling etc.) can also operate as normal, what guarantee to produce carries out smoothly.
For this reason, adopt the PLC system of the S7-300 series of SIEMENS.The FM350-2 counting module and the analog quantity input/output module of on ET200-M remote I/O control station, being furnished with Siemens, the analog quantity input/output module is specifically designed to the collection or the output of analog signals, input and output analog quantity scope 0～27648, total system are furnished with HMI (man-machine interface) terminal monitoring.
1) detection of speed.Use two incremental encoders, be installed in two groups of transmission terminals of direct current variable frequency motor and oil motor respectively, its signal is delivered to two passages of FM350-2 high speed counting module, directly uses the speed measuring ability of FM350-2, calculates the actual speed of the two.FM350-2 is the tally function module of Siemens, and 8 passages are usually used in high-speed pulse counting, and displacement angle such as moves at calculating.
If want FM350-2 can receive accurately that the signal of scrambler also accurately provides rate signal, the type selecting of scrambler is noted that the requirement that makes its output signal meet FM350-2.Simultaneously the signal cable to scrambler also there is certain requirement.
2) the PLC software of PID regulator is realized.Use the functional block in the Siemens STEP7 software, standard P ID regulatory function piece FB41, initialization is called once in functional block OB100, and being adjusted in regularly of PID realizes that the time is set to 200ms in the interrupt function piece OB35 interruption.Several significant variables in the parameter, set-point, value of feedback and output valve all are to represent with the real number value between 0.0～1.0.
Parameter is standardized.Standardized method be exactly calculate number percent in the shared relatively whole codomain scope of variable corresponding to the amount in the 27648 digital quantity scopes in other words corresponding to the number percent (the feed mechanism maximal rate is calculated by field adjustable: direct-current driving device maximal rate rreturn value multiply by the gear ratio of feed mechanism) of maximal rate.
The PID control method: in engineering reality, the regulator control law that is most widely used is ratio (P), integration (I), differential (D) control, is called for short PID control, claims PID to regulate again.Native system does not use the D regulator, has only used the PI part.Make I equal 0 earlier, P up adds since 0, continuous oscillation occurs up to system, writes down oscillation period this moment, and it is 0.48 of oscillation period that I is set then.
3) proportioning valve spool position and valve position instruction.Proportioning valve spool position and valve position instruction detect control by PID regulator and analog quantity input/output module.Proportioning valve valve position analog quantity output signals promptly is the key of this time controlling.
4) speed synchronization control rises, ends.Behind the wire rod material loading, detect by limit switch and to expect, this moment, (this signal inserted two passages of FM350 simultaneously by the displacement of prime code device signal meter, the displacement of a meter, a meter speed), set displacement one to the back (set displacement one by limit switch to prime drive unit start point distance from decision, can finely tune by the HMI host computer), clamp device in the prime drive unit is lived feed collet, the beginning feeding; (setting displacement two connects material the distance of positions from decision by limit switch to a back level drive unit to the back setting displacement two, can finely tune by the HMI host computer), dolly begins to clamp and connects material in the downstream component, and speed synchronization control simultaneously starts, and the control dolly is to be same as the speed operation of prime terminal; After wire rod shifted out the prime scope, synchro control stopped.That is to say toggle speed synchro control when material is in the two-stage drive scope simultaneously.
Above embodiment has just realized basic functions, consider the driving error of belt and chain, all right this error undesired signal of software compensation or increase HMI are to the fine adjustment function of PID adjusting and the start and stop function of PID adjusting, go wrong in time to change spare part the time at proportioning valve, proportioning valve is exported with definite value, thereby strip-line is unlikely to stop fully producing.
Speed synchronous control system of wire-processing transmission wire of the present invention is realized the speed synchronization control of wire rod by being equipped with detecting elements such as proportioning valve and incremental encoder by PLC controller and HMI terminal, speed control PID regulates, can realize the synchronous of speed substantially, and according to reality requirement increase necessary control content, extendability is stronger.
Claims (2)
1. speed synchronous control system of wire-processing transmission wire, be used to realize the wire-processing transmission wire front and back stages do not have the drive unit that machinery connects output speed synchronously, wherein level drive unit in back is an oil motor, in this oil motor oil supply loop a proportioning valve is arranged, it is characterized in that speed synchronous control system of wire-processing transmission wire comprises speed synchronization control start-stop signal generating means, speed detector one, speed detector two, PID regulator, analog quantity input/output module; Speed detector one detects prime drive unit output speed, speed detector two detects back level drive unit output speed, when speed synchronization control start-stop signal generating means provides enabling signal, the PID regulator according to two outputs of speed detector one and speed detector before, the deviation size of back level drive unit output speed is done proportional integral and is regulated, calculate controlled quentity controlled variable, output back level drive unit speed control signal, the back level drive unit speed control signal of PID regulator output is controlled the output of the proportioning valve in this oil motor oil supply loop through this analog quantity input/output module, the output of passing ratio valve changes and changes back level drive unit output speed, speed detector two detects back level drive unit output speed once more, feed back to the velocity setting of PID regulator, draw once more next scan period before, the velocity deviation of back level drive unit output speed, this close-loop feedback process circulation is carried out, thus the speed unanimity that level drives before and after making; When speed synchronization control start-stop signal generating means provides stop signal, stop synchro control to back level drive unit output speed.
2. speed synchronous control system of wire-processing transmission wire according to claim 1, it is characterized in that, when the wire rod that speed synchronization control start-stop signal generating means transmits appears at position between forward and backward level drive unit, provide the synchro control enabling signal on detecting wire-processing transmission wire; After detecting wire rod and shifting out prime drive unit scope, provide the synchro control stop signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100432086A CN101551641B (en) | 2008-04-01 | 2008-04-01 | Speed synchronous control system of wire-processing transmission wire |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100432086A CN101551641B (en) | 2008-04-01 | 2008-04-01 | Speed synchronous control system of wire-processing transmission wire |
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| CN101551641A CN101551641A (en) | 2009-10-07 |
| CN101551641B true CN101551641B (en) | 2011-10-05 |
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| CN2008100432086A Expired - Fee Related CN101551641B (en) | 2008-04-01 | 2008-04-01 | Speed synchronous control system of wire-processing transmission wire |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1103967A (en) * | 1993-09-02 | 1995-06-21 | 三菱电机株式会社 | Controlling apparatus and controlling metghod in machine tool |
| CN1261836A (en) * | 1997-07-02 | 2000-08-02 | 三菱电机株式会社 | Synchronization control device for servomotors |
| EP1729193A1 (en) * | 2005-05-25 | 2006-12-06 | Rockwell Automation Technologies, Inc. | Motor drive with velocity noise filter and velocity error filter |
| CN101003062A (en) * | 2006-09-27 | 2007-07-25 | 山西太钢不锈钢股份有限公司 | Method and device for synchro controlling high precision screwdown at two side during rolling steel plate |
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2008
- 2008-04-01 CN CN2008100432086A patent/CN101551641B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1103967A (en) * | 1993-09-02 | 1995-06-21 | 三菱电机株式会社 | Controlling apparatus and controlling metghod in machine tool |
| CN1261836A (en) * | 1997-07-02 | 2000-08-02 | 三菱电机株式会社 | Synchronization control device for servomotors |
| EP1729193A1 (en) * | 2005-05-25 | 2006-12-06 | Rockwell Automation Technologies, Inc. | Motor drive with velocity noise filter and velocity error filter |
| CN101003062A (en) * | 2006-09-27 | 2007-07-25 | 山西太钢不锈钢股份有限公司 | Method and device for synchro controlling high precision screwdown at two side during rolling steel plate |
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| CN101551641A (en) | 2009-10-07 |
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